Little John Tutorials
Classes Brief Explanation and UML
The C++ implementation of Little John is composed of the following classes:
- LittleJohn: Class responsible for all the robot's communication (with the simulator and the real robot) and obtention of inter parameters (e.g., whole-body Jacobian matrix, end-effector pose, etc.). An object of this class is set to used in simulation or in real experiments through a parameter of the constructor.
- RoboticArm: Class responsible for the communication with the robotic arm.
- MobileBase: Class responsible for the communication with the mobile base.
The classes RoboticArm and MobileBase are meant to serve as intern attributes of the class LittleJohn and, therefore, their access occur indirectly through an object of LittleJohn. This is made clearer in the UML that follows.